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Mathematical Problems in Engineering
Volume 2017, Article ID 6970146, 15 pages
Research Article

Adaptive PID and Model Reference Adaptive Control Switch Controller for Nonlinear Hydraulic Actuator

Department of Automation, China University of Petroleum, Beijing 102200, China

Correspondence should be addressed to Jian-wei Liu; nc.ude.puc@wjuil

Received 4 September 2016; Revised 6 June 2017; Accepted 22 August 2017; Published 15 October 2017

Academic Editor: Stefan Balint

Copyright © 2017 Xin Zuo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Nonlinear systems are modeled as piecewise linear systems at multiple operating points, where the operating points are modeled as switches between constituent linearized systems. In this paper, adaptive piecewise linear switch controller is proposed for improving the response time and tracking performance of the hydraulic actuator control system, which is essentially piecewise linear. The controller composed of PID and Model Reference Adaptive Control (MRAC) adaptively chooses the proportion of these two components and makes the designed system have faster response time at the transient phase and better tracking performance, simultaneously. Then, their stability and tracking performance are analyzed and evaluated by the hydraulic actuator control system, the hydraulic actuator is controlled by the electrohydraulic system, and its model is built, which has piecewise linear characteristic. Then the controller results are compared between PID and MRAC and the switch controller designed in this paper is applied to the hydraulic actuator; it is obvious that adaptive switch controller has better effects both on response time and on tracking performance.